Locomotion control of a snake-like robot based on velocity disturbance

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Locomotion control of a snake-like robot based on velocity disturbance
	Guo X(郭宪); Ma SG(马书根); Li B(李斌); Wang MH(王明辉)
	2014
会议名称	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
会议日期	December 5-10, 2014
会议地点	Bali, Indonesia
页码	582-587
通讯作者	郭宪
中文摘要	This paper presents a novel method based on the velocity disturbance to control the locomotion of a snake-like robot. The inputs are joint torques which are derived from the dynamics equations. The traditional dynamics equations of a snake-like robot are complex, so a simplified dynamics equations are firstly derived based on the differential geometry theory. Then the velocity disturbance is introduced to the simplified dynamics equation and the control method is proposed. The locomotion gait of the snake-like robot is decided by the velocity disturbance. So controlling the velocity disturbance can control the locomotion of the snake-like robot. This method can also avoid the singular posture of the snake-like robot. The numerical simulation results present that the proposed method can control the locomotion of the snake-like robot.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	Harbin Institute of Technology; IEEE Robotics and Automation Society; National University of Defense Technology; Shenzhen Institutes of Advanced Technology, CAS; State Key Laboratory of Robotics and Systems
会议录	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-4799-7396-5
WOS记录号	WOS:000380399500096
内容类型	会议论文
源URL	[http://ir.sia.ac.cn/handle/173321/16117]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Guo X,Ma SG,Li B,et al. Locomotion control of a snake-like robot based on velocity disturbance[C]. 见:2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Bali, Indonesia. December 5-10, 2014.